fix(realsense): move validator to 0.21, matching every other crate

[mustafab0]

dimos-module, the ray tracing mapper and the mls planner all moved to validator 0.21; the realsense crate was left on 0.20. Both versions end up in its dependency graph, so its Config derived Validate from 0.20 while Module::Config wanted 0.21, and cargo check failed on an unsatisfied trait bound. This blocks any blueprint composing RealSenseCamera, which is now every hardware grasping run.

Every other Cargo.toml in the repo declares the same "0.21" string and there is no workspace dependency table to inherit from, so this aligns realsense with that convention rather than loosening its constraint. Reproduced the failure by putting 0.20 back (error[E0277]: required for <RealSense as Module>::Config to implement ModuleConfig) and confirmed cargo check is clean on 0.21; the lockfile is consistent under --locked.

First of nine in the xArm grasping re-landing stack.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ All tests successful. No failed tests found.

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  Files        1323     1323           
  Lines      125419   125419           
  Branches    10911    10911           
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  Hits        97384    97384           
  Misses      24890    24890           
  Partials     3145     3145           

Flag	Coverage Δ
OS-ubuntu-24.04-arm	74.31% <ø> (-0.01%)	⬇️
OS-ubuntu-latest	74.86% <ø> (+<0.01%)	⬆️
Py-3.10	74.85% <ø> (+<0.01%)	⬆️
Py-3.11	74.85% <ø> (ø)
Py-3.12	74.85% <ø> (-0.01%)	⬇️
Py-3.13	74.85% <ø> (+<0.01%)	⬆️
Py-3.14	74.86% <ø> (+<0.01%)	⬆️
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SelfHosted-Large	30.21% <ø> (-0.01%)	⬇️
SelfHosted-Linux	34.71% <ø> (+<0.01%)	⬆️

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[greptile-apps]

Greptile Summary

Updates the RealSense Rust workspace to use validator 0.21 and refreshes its dependency graph. The committed Cargo.lock still requires modification when Cargo is run with --locked, blocking reproducible RealSense builds until the lockfile is fully regenerated and committed.

Confidence Score: 4/5

Not safe to merge until the RealSense workspace lockfile supports locked Cargo resolution.

Isolated execution reproduced Cargo's lockfile-update failure for the changed workspace and showed that regenerating the lockfile allows locked metadata resolution.

Files Needing Attention: dimos/hardware/sensors/camera/realsense/rust/Cargo.lock needs a complete regeneration against the updated manifest and path dependency graph.

T-Rex Logs

What T-Rex did

• Executed the reproducible locked dependency graph validation script to compare the base and PR revision Cargo graphs.
• Reviewed the base revision locked Cargo validation output to verify the lockfile state for the base revision.
• Reviewed the PR revision locked Cargo validation output to verify the lockfile state for the PR revision.
• Validated contract-level consistency by confirming the PR head’s Cargo.lock diverges from Cargo 1.97.1’s resolution, and demonstrated the need to regenerate the lockfile with cargo generate-lockfile, which produced a substantive diff.
• Acknowledged the additional P1 finding proof and its accompanying review comment details.

_{Ran code and verified through T-Rex}

Comments Outside Diff (2)

1. dimos/hardware/sensors/camera/realsense/rust/Cargo.lock, line 3313 (link)

   Locked Cargo resolution fails

   The refreshed RealSense lockfile still cannot satisfy Cargo's locked resolution: cargo metadata --locked, cargo tree --locked -i validator, and cargo check --locked all exit 101 because Cargo needs to update Cargo.lock. Regenerating the lockfile in an isolated checkout allows locked metadata to succeed, so commit the complete regenerated lockfile. Without this, reproducible CI and production builds using --locked are blocked.

   Artifacts

   
   

   Reproducible locked dependency graph validation script

   • Creates isolated base and PR worktrees, supplies test-only librealsense pkg-config metadata, and runs the narrow Cargo validation commands; takeaway: the proof can be rerun without product-code changes.

   Base revision locked Cargo validation output

   • Captured execution for greptile-base shows locked full metadata, validator tree, and compilation cannot update its tracked lockfile; takeaway: the pre-existing workspace lock was already non-reproducible.

   PR revision locked Cargo validation output

   • Captured execution for e6a3ede shows all locked graph commands exit 101, while regenerating a temporary lock lets locked metadata pass and yields a tracked-lock diff; takeaway: the PR lockfile remains inconsistent and blocks locked builds.

   

   _{Ran code and verified through T-Rex}

2. General comment

   Committed RealSense Cargo.lock cannot satisfy --locked resolution

   • Bug
     • At PR revision e6a3ede, the independent workspace rejects cargo metadata --locked, cargo tree --locked -i validator, and cargo check --locked with exit code 101: Cargo says it cannot update Cargo.lock because --locked was passed. Temporary lockfile regeneration exits 0, and locked metadata then exits 0, showing the committed lockfile is stale/inconsistent.
   • Cause
     • The refreshed tracked lock graph does not match Cargo’s current resolution for the RealSense manifest and its local dimos-module path dependency.
   • Fix
     • Regenerate dimos/hardware/sensors/camera/realsense/rust/Cargo.lock using the supported Cargo toolchain after resolving dependencies, commit the complete resulting lockfile, and require cargo check --locked in an environment exposing librealsense2.

   _{Ran code and verified through T-Rex}

_{Reviews (1): Last reviewed commit: "fix(realsense): move validator to 0.21, ..." | Re-trigger Greptile}

[aclauer]

Yeah I have a PR that is fixing this with workspace level dependencies for all these things that are shared by all native modules. Right now this module isn't in the top workspace, so it's a bit annoying but fix is coming.

Looks good to unblock!

Actually can you double check greptile on the Cargo lock? Just check that it's regenerated and updated i guess, ping me when ready